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mainProgram.py
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mainProgram.py
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from AutoWC import AutoWC
from WheelchairModel import WheelchairModel
from PID import PID
import pygtk
pygtk.require("2.0")
import gtk
class MainProgram:
"""This main class handles UI objects' behaviours
"""
def __init__(self):
# Time for timer
global T
T = 1000
# For debugging
global _debug
_debug = False
# For PID
# TODO: Add GUI to tune K
global Kp, Ki, Kd
Kp = 3.0
Ki = 0.4
Kd = 1.2
self.p = PID(3.0, 0.4, 1.2)
self.p.setPoint(0)
# Initialize AutoWC and WheelchairModel
self.autoWC = AutoWC()
self.wc = WheelchairModel()
self.wc.delta_t = T / 1000.
interface = gtk.Builder()
interface.add_from_file('AutoWC_GUI.glade')
interface.connect_signals(self)
self.Interface = interface.get_object('mainWindow')
self.Interface.show()
self.myPort = interface.get_object('entryPort')
self.myStatus = interface.get_object('lbStatus')
self.txtTicks = interface.get_object('textTicks')
self.LRSignal = interface.get_object('adjustmentLR')
self.FBSignal = interface.get_object('adjustmentFB')
self.entryDistance = interface.get_object('entryDistance')
self.entryAngle = interface.get_object('entryAngle')
self.entryVelocity = interface.get_object('entryVelocity')
self.cbtnStop_distance = interface.get_object('cbtnStop_distance')
self.cbtnStop_angle = interface.get_object('cbtnStop_angle')
self.entryStop_distance = interface.get_object('entryStop_distance')
self.entryStop_angle = interface.get_object('entryStop_angle')
##############################
# Window
##############################
def on_mainWindow_destroy(self, widget):
try:
self.autoWC.stop_wc()
self.autoWC.serial.close_port()
except AttributeError:
pass
gtk.mainquit()
##############################
# Timer
##############################
def timer(self):
# Get data from serial port memory
self.autoWC.update_buffer()
# Update wheelchair info (from the buffer)
self.wc.update_wc_info(self.autoWC.buffer)
# Show numbers of ticks (for debugging)
if _debug:
self.txtTicks.set_text('')
for x in range(1, len(self.autoWC.buffer)):
if x % 2 == 0:
self.txtTicks.insert_at_cursor(str(ord(self.autoWC.buffer[x])) + '\n')
else:
self.txtTicks.insert_at_cursor(str(ord(self.autoWC.buffer[x])) + '\t')
# Display distance
d_left, d_right = self.wc.get_distance()
distance = 'Left: %.2f\tRight: %.2f' % (d_left, d_right)
self.entryDistance.set_text(distance)
# Display velocity
vel_left, vel_right = self.wc.get_velocity()
velocity = 'Left: %.2f\tRight: %.2f' % (vel_left, vel_right)
self.entryVelocity.set_text(velocity)
# Display angle
self.entryAngle.set_text(str(self.wc.get_angle()))
newTheta = self.p.update(self.wc.get_angle())
# TODO: somehow adjust analog output using this newTheta
# Stop if reaches given distance
if self.cbtnStop_distance.get_active() and self.entryStop_distance.get_text() != '':
self.stop_after_distance(int(self.entryStop_distance.get_text()))
# Stop if reaches given angle
if self.cbtnStop_angle.get_active() and self.entryStop_angle.get_text() != '':
self.stop_after_angle(int(self.entryStop_angle.get_text()))
return gtk.TRUE
##############################
# Buttons
##############################
def on_btnRun_clicked(self, widget):
self.autoWC.send_package('a', self.FBSignal.get_value())
self.autoWC.send_package('b', self.LRSignal.get_value())
def on_btnStop_clicked(self,widget):
self.autoWC.stop_wc()
self.FBSignal.set_value(2.5)
self.LRSignal.set_value(2.5)
def on_btnReset_clicked(self,widget):
self.wc.wipe_wc()
def on_btnConnect_clicked(self,widget):
"""Connect to serial port, start Timer
"""
try:
self.autoWC.serial.open_port(self.myPort.get_text())
self.myStatus.set_text("CONNECTED")
except:
print "FAIL to Connect to Serial Port."
try:
self.timeout_handler_id = gtk.timeout_add(T, self.timer) # time loop
except:
print "Timer encounters problems."
def on_btnFoward_clicked(self, widget):
# Send commands to wc
self.autoWC.send_package('a', 2)
self.autoWC.send_package('b', 2.5)
# Re-adjust GUI
self.FBSignal.set_value(2)
self.LRSignal.set_value(2.5)
def on_btnBack_clicked(self, widget):
# Send commands to wc
self.autoWC.send_package('a', 3)
self.autoWC.send_package('b', 2.5)
# Re-adjust GUI
self.FBSignal.set_value(3)
self.LRSignal.set_value(2.5)
def on_btnLeft_clicked(self, widget):
# Send commands to wc
self.autoWC.send_package('a', 2.5)
self.autoWC.send_package('b', 3.2)
# Re-adjust GUI
self.FBSignal.set_value(2.5)
self.LRSignal.set_value(3.2)
def on_btnRight_clicked(self, widget):
# Send commands to wc
self.autoWC.send_package('a', 2.5)
self.autoWC.send_package('b', 1.8)
# Re-adjust GUI
self.FBSignal.set_value(2.5)
self.LRSignal.set_value(1.8)
def stop_after_distance(self, distance):
if self.wc.d_delta > distance:
self.autoWC.stop_wc()
def stop_after_angle(self, angle):
if self.wc.theta_sum > angle:
self.autoWC.stop_wc()
# Reset angle
self.wc.theta_sum = 0
# TODO: Add PID to stabilize wheelchair movement. SetPoint: theta = 0
if __name__ == "__main__":
MainProgram()
gtk.main()